| 摘要 |
PROBLEM TO BE SOLVED: To provide an in-tube traveling device capable of autonomously traveling in a curved conduit, a diameter-changing conduit, a branched conduit and the like without a complicated steering mechanism or an external control device. SOLUTION: This device comprises a frame 2, first to fourth arms 3-6 journalled by rotary shafts 18-21 provided on a front right side, a front left side, a rear right side and a rear left side of the frame 2 and rotatable in a horizontal plane, first to fourth drive wheels 11-14 journalled at one end of the first to fourth arms 3-6 and rotatably driven in the horizontal plane, and first and second springs 15 and 16 applying a restoration force around the rotary shafts 18-21 to the first to fourth arms 3-6. COPYRIGHT: (C)2006,JPO&NCIPI
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